EP3078623B1 - Gabelstapler und gabelstaplersteuerungsverfahren - Google Patents

Gabelstapler und gabelstaplersteuerungsverfahren Download PDF

Info

Publication number
EP3078623B1
EP3078623B1 EP14868345.1A EP14868345A EP3078623B1 EP 3078623 B1 EP3078623 B1 EP 3078623B1 EP 14868345 A EP14868345 A EP 14868345A EP 3078623 B1 EP3078623 B1 EP 3078623B1
Authority
EP
European Patent Office
Prior art keywords
forklift
load
mast
static friction
control unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Not-in-force
Application number
EP14868345.1A
Other languages
English (en)
French (fr)
Other versions
EP3078623A4 (de
EP3078623A1 (de
Inventor
Dae Hyun Kim
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Doosan Corp
Original Assignee
Doosan Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Doosan Corp filed Critical Doosan Corp
Publication of EP3078623A1 publication Critical patent/EP3078623A1/de
Publication of EP3078623A4 publication Critical patent/EP3078623A4/de
Application granted granted Critical
Publication of EP3078623B1 publication Critical patent/EP3078623B1/de
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks

Definitions

  • the present disclosure relates to a forklift and a forklift control method, and more particularly, to a forklift and a forklift control method, which prevent a load from falling during the travelling.
  • the forklift receives power from a power source and operates a hydraulic system, and the hydraulic system generates hydraulic pressure.
  • the forklift is operated by hydraulic pressure or an engine and a motor, or raises up a fork with hydraulic pressure.
  • the fork may be provided in a mast, and the mast may be inclined forward and backward in the forklift.
  • the aforementioned power source may be an internal combustion engine or an electric motor.
  • the forklift may further include a power train or a power train control unit which is installed in a power train system of the forklift 10 to transfer power to the travelling system, in which the power train or the power train control unit may be operated according to the degree of falling danger of the load calculated by the control unit 200, so that an output size of the power may be controlled.
  • a power train or a power train control unit which is installed in a power train system of the forklift 10 to transfer power to the travelling system, in which the power train or the power train control unit may be operated according to the degree of falling danger of the load calculated by the control unit 200, so that an output size of the power may be controlled.
  • a brake or a brake control unit may be controlled, so that a travelling speed of the forklift may be decreased.
  • a power train or a power train control unit is provided in the forklift 10 according to the exemplary embodiment of the present disclosure.
  • the power train or the power train control unit transfers power output from the engine or a driving motor to a travelling system or the hydraulic system. That is, when the power train or the power train control unit is controlled by a control command output from a control unit 200, a size of power may be controlled, and for example, when a size of power is controlled to be decreased, the size of power is decreased, so that a travelling speed may be decreased.
  • the tilting actuator 22 is operated according to the degree of falling danger of the load, which is calculated by the control unit 200, during the travelling of the forklift 10, so that an inclination angle of the mast 20 is controlled.
  • the danger level may be set according to the kind of load 50.
  • an example of the danger level may be provided with a basic value, and the ratio of net force to static friction force may be more conservatively set when importance of the load 50 is increased.
  • the fourth response When the ratio of the net force to the static friction force reaches 65% to 85%, the fourth response may be performed.
  • the fourth response is to more actively take measures so as to prevent the load from falling. That is, the control unit 200 controls the power train or the power train control unit by giving a command, thereby limiting an output of the engine and decreasing travelling force of the forklift 10.
  • Equation 1 when the net force is larger than the static friction force, the method moves to the third case, so that the fork/mast inclination is adjusted, and in this case, the mast 20 is adjusted in a direction, in which the mast 20 is tilted backward.
  • Equation 2 when the net force is larger than the static friction force, the method moves to the third case, so that the fork/mast inclination is adjusted, and in this case, the mast 20 is adjusted in a direction, in which the mast 20 is tilted backward, so that the angle of the fork is larger than that of the ground (horizontal line).

Landscapes

  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Claims (12)

  1. Gabelstapler, umfassend:
    einen Gabelstapler (10), der mit einem Hydrauliksystem versehen ist und durch Hydraulikdruckausgabe von dem Hydrauliksystem angetrieben wird;
    eine Gabel (30), auf der eine Last oder eine Palette angebracht ist;
    einen Hubmast (20), der an einer Vorderseite des Gabelstaplers (10) angeordnet ist und die Gabel (30) anhebt; und
    einen Kipp-Aktor (22), der zwischen der Gabel (10) und dem Hubmast (20) angeordnet ist und durch die Hydraulikdruckausgabe von dem Hydrauliksystem dahingehend betätigt wird, einen Neigungsgrad des Hubmasts (20) einzustellen,
    dadurch gekennzeichnet, dass
    der Gabelstapler Folgendes umfasst:
    eine Eingabeeinheit (100), in die das Gewicht der Last, eine Neigung des Gabelstaplers (10), eine Neigung des Hubmasts (20) bezüglich des Gabelstaplers (10), eine Beschleunigung des Gabelstaplers (10), geologische Informationen über den Fahrweg und der Haftreibungskoeffizient zwischen der Gabel (30) und der Palette (40) eingegeben werden; und
    eine Steuereinheit (200), die Haftreibungskraft der Last und an die Last angelegte Nettokraft basierend auf jeder Informationseingabe in die Eingabeeinheit (100) berechnet, um einen Gefahrengrad eines Herabfallens der Last abzuleiten,
    wobei der Kipp-Aktor (22) gemäß dem durch die Steuereinheit (200) berechneten Gefahrengrad eines Herabfallens der Fracht vorausgehend betrieben wird, bevor der Gabelstapler (10) eine Neigung des Fahrwegs befährt oder sie verlässt, so dass ein Neigungswinkel des Hubmasts (20) gesteuert wird.
  2. Gabelstapler nach Anspruch 1, ferner umfassend:
    eine Bremse oder eine Bremssteuereinheit, die in einem Fahrsystem des Gabelstaplers (10) zum Bremsen des Gabelstaplers (10) installiert ist,
    wobei die Bremse oder die Bremssteuereinheit gemäß dem durch die Steuereinheit (200) berechneten Gefahrengrad eines Herabfallens der Last so betrieben wird, dass eine Geschwindigkeit des Gabelstaplers (10) gesteuert wird.
  3. Gabelstapler nach Anspruch 1, ferner umfassend:
    einen Antriebsstrang oder eine Antriebsstrangsteuereinheit, der bzw. die in einem Antriebsstrangsystem des Gabelstaplers (10) zur Übertragung von Leistung zu dem Fahrsystem installiert ist,
    wobei der Antriebsstrang oder die Antriebsstrangsteuereinheit gemäß dem durch die Steuereinheit (200) berechneten Gefahrengrad eines Herabfallens der Last so betrieben wird, dass eine Leistungsabgabehöhe gesteuert wird.
  4. Gabelstapler nach Anspruch 1, ferner umfassend:
    eine Bremse oder eine Bremssteuereinheit, die in einem Fahrsystem des Gabelstaplers (10) zum Bremsen des Gabelstaplers (10) installiert ist,
    einen Antriebsstrang oder eine Antriebsstrangsteuereinheit, der bzw. die in einem Antriebsstrangsystem des Gabelstaplers (10) zur Übertragung von Leistung zu dem Fahrsystem installiert ist,
    wobei die Bremse oder die Bremssteuereinheit und der Antriebsstrang oder die Antriebsstrangsteuereinheit gemäß dem durch die Steuereinheit (200) berechneten Gefahrengrad eines Herabfallens der Last so betrieben werden, dass eine Geschwindigkeit des Gabelstaplers (10) und eine Leistungsabgabehöhe gesteuert werden.
  5. Verfahren zum Steuern eines Gabelstaplers, umfassend:
    einen ersten Schritt (s10), in dem Basisdaten, die das Gewicht einer Last, eine Neigung des Gabelstaplers, eine Gabel-/Hubmast-Neigung, eine Beschleunigung des Gabelstaplers, geologische Informationen und den Haftreibungskoeffizienten umfassen, gesammelt werden;
    einen dritten Schritt (s30), in dem die Haftreibungskraft durch die Last berechnet wird;
    einen vierten Schritt (s40), in dem die Höhen der Haftreibungskraft und der Nettokraft, die an die Last angelegt wird, verglichen und bestimmt werden;
    einen fünften Schritt (s50), in dem, wenn ein Verhältnis der Nettokraft zu der Haftreibungskraft 55 % erreicht, ein Kipp-Aktor (22) so gesteuert wird, dass die Haftreibungskraft erhöht wird;
    einen sechsten Schritt (s60), in dem aktualisierte Daten über die Gabel-/Hubmast-Neigung, die Neigung des Gabelstaplers und die Beschleunigung des Gabelstaplers gesammelt werden; und
    einen siebten Schritt (s70), in dem Höhen der aktualisierten Haftreibungskraft, die durch die Aktualisierungsdaten aktualisiert wurde, und der an die Last angelegten Nettokraft verglichen und bestimmt werden, und wenn die aktualisierte Haftreibungskraft geringer als die Nettokraft ist, das Verfahren zu dem fünften Schritt (s50) zurückkehrt,
    wobei eine Neigung der Gabel/des Hubmasts kurz bevor der Gabelstapler eine Neigung des Fahrwegs befährt oder sie verlässt vorausgehend gesteuert wird.
  6. Verfahren nach Anspruch 5, wobei im fünften Schritt (s50), wenn das Verhältnis der Nettokraft zu der Haftreibungskraft 35 % bis 55 % erreicht, eine Vorwarnung an eine Instrumententafel ausgegeben wird.
  7. Verfahren nach Anspruch 5, wobei im fünften Schritt (s50), wenn das Verhältnis der Nettokraft zu der Haftreibungskraft 45 % bis 65 % erreicht, eine optisch oder akustisch erkennbare Warnmeldung ausgegeben wird.
  8. Verfahren nach Anspruch 5, wobei im fünften Schritt (s50), wenn das Verhältnis der Nettokraft zu der Haftreibungskraft 65 % bis 85 % erreicht, ein Antriebsstrang oder eine Antriebsstrangsteuereinheit so gesteuert wird, dass eine Motorausgabe verringert wird.
  9. Verfahren nach Anspruch 5, wobei im fünften Schritt (s50), wenn das Verhältnis der Nettokraft zu der Haftreibungskraft 70 % bis 90 % erreicht, eine Bremse oder eine Bremssteuereinheit so gesteuert wird, dass eine Fahrgeschwindigkeit des Gabelstaplers verringert wird.
  10. Verfahren nach Anspruch 5, wobei im siebten Schritt (s50), wenn die aktualisierte Haftreibungskraft größer als die Nettokraft ist, das Verfahren zu dem ersten Schritt (s10) zurückkehrt.
  11. Verfahren nach Anspruch 5, ferner umfassend:
    einen zweiten Schritt (s20), in dem bestimmt wird, ob eine Last vorhanden ist, und wenn eine Last vorhanden ist, das Verfahren zu dem dritten Schritt (s30) zurückkehrt, und wenn keine Last vorhanden ist, das Verfahren zwischen dem ersten Schritt (s10) und dem dritten Schritt (s30) zu dem ersten Schritt (s10) zurückkehrt.
  12. Verfahren nach Anspruch 5, wobei die Basisdaten ferner eine Definition einer Gefahrenstufe gemäß dem Gefahrengrad umfassen, und
    wenn der Gefahrengrad in der Gefahrenstufe hoch ist, ein Verhältnis der Nettokraft zu der Haftreibungskraft niedrig eingestellt wird, so dass eine Betriebszeit des Kipp-Aktors (22) so gesteuert wird, dass sie vorverstellt wird, und
    wenn der Gefahrengrad in der Gefahrenstufe niedrig ist, ein Verhältnis der Nettokraft zu der Haftreibungskraft hoch eingestellt wird, so dass eine Betriebszeit des Kipp-Aktors (22) so gesteuert wird, dass sie verzögert wird.
EP14868345.1A 2013-12-03 2014-10-16 Gabelstapler und gabelstaplersteuerungsverfahren Not-in-force EP3078623B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020130149204A KR20150064453A (ko) 2013-12-03 2013-12-03 지게차 및 지게차의 제어방법
PCT/KR2014/009700 WO2015083935A1 (ko) 2013-12-03 2014-10-16 지게차 및 지게차의 제어방법

Publications (3)

Publication Number Publication Date
EP3078623A1 EP3078623A1 (de) 2016-10-12
EP3078623A4 EP3078623A4 (de) 2017-08-02
EP3078623B1 true EP3078623B1 (de) 2018-12-12

Family

ID=53273655

Family Applications (1)

Application Number Title Priority Date Filing Date
EP14868345.1A Not-in-force EP3078623B1 (de) 2013-12-03 2014-10-16 Gabelstapler und gabelstaplersteuerungsverfahren

Country Status (5)

Country Link
US (1) US9981835B2 (de)
EP (1) EP3078623B1 (de)
KR (1) KR20150064453A (de)
CN (1) CN105793188B (de)
WO (1) WO2015083935A1 (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11352243B2 (en) 2018-09-13 2022-06-07 Crown Equipment Corporation System and method for controlling a maximum vehicle speed for an industrial vehicle based on a calculated load

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20150064453A (ko) * 2013-12-03 2015-06-11 주식회사 두산 지게차 및 지게차의 제어방법
KR102075808B1 (ko) * 2013-12-30 2020-03-02 주식회사 두산 지게차의 제어장치 및 제어방법
CN107921965B (zh) * 2015-08-14 2020-10-09 克朗设备公司 基于牵引模型的基于模型的诊断
JP6737202B2 (ja) * 2017-02-16 2020-08-05 株式会社島津製作所 フォークリフト
US10730731B2 (en) 2018-07-26 2020-08-04 John Eiler Forklift mast warning alarm
CN111115521A (zh) * 2018-10-31 2020-05-08 比亚迪股份有限公司 叉车门架自动调平装置
CN111017804B (zh) * 2019-11-08 2021-06-11 华中科技大学 一种智能移动转运系统及其转运方法
CN110844852B (zh) * 2019-11-26 2021-11-09 北谷电子有限公司上海分公司 一种剪叉高空作业平台及自动远程虚拟实现满载标定曲线的方法
CN111634859B (zh) * 2020-06-10 2022-02-08 江苏省特种设备安全监督检验研究院 一种智能叉车控制系统
US11840271B2 (en) * 2020-06-25 2023-12-12 Rehrig Pacific Company Pallet sled and delivery system
USD969441S1 (en) * 2020-09-11 2022-11-08 Doosan Industrial Vehicle Co., Ltd. Forklift
USD969442S1 (en) * 2020-09-28 2022-11-08 Doosan Industrial Vehicle Co., Ltd. Forklift
JP1726619S (ja) * 2021-11-11 2022-10-05 フォークリフト
CN114873521A (zh) * 2022-03-25 2022-08-09 华能新疆能源开发有限公司新能源东疆分公司 一种叉车智能紧急避险辅助系统
JP2024010969A (ja) * 2022-07-13 2024-01-25 住友重機械工業株式会社 荷役車両、運転支援方法及び運転支援プログラム
USD1001412S1 (en) * 2022-10-11 2023-10-10 Manitou Bf Forklift truck
CN118568867B (zh) * 2024-08-05 2024-11-22 安徽合力股份有限公司 混合动力叉车能耗仿真方法及系统
JP7736421B1 (ja) * 2025-04-21 2025-09-09 三菱ロジスネクスト株式会社 荷役車両

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4511974A (en) * 1981-02-04 1985-04-16 Kabushiki Kaisha Toyoda Jidoshokki Seisakusho Load condition indicating method and apparatus for forklift truck
JPH0761792A (ja) 1993-08-27 1995-03-07 Mitsubishi Heavy Ind Ltd フォークリフトのチルト制御装置
KR970006523B1 (ko) 1994-12-30 1997-04-29 대우중공업 주식회사 지게차의 자동 틸팅장치
KR19980028699A (ko) * 1996-10-23 1998-07-15 이해규 상하역 장비의 마스트 경사안정화 장치 및 방법
JPH11171494A (ja) * 1997-12-11 1999-06-29 Toyota Autom Loom Works Ltd 産業車両のシリンダ制御装置
JPH11171492A (ja) * 1997-12-15 1999-06-29 Toyota Autom Loom Works Ltd 産業車両におけるデータ設定装置及び産業車両
JP3301416B2 (ja) * 1999-08-23 2002-07-15 株式会社豊田自動織機 産業車両におけるマスト傾動速度制御装置
JP2001261297A (ja) * 2000-03-22 2001-09-26 Toyota Autom Loom Works Ltd 産業車両の前後方向の荷重モーメント測定装置
JP4209257B2 (ja) * 2003-05-29 2009-01-14 三菱重工業株式会社 分散型コントローラとその動作方法、及び、分散型コントローラを備えるフォークリフト
US20050102081A1 (en) * 2003-09-23 2005-05-12 Patterson Mark A. Lift truck active load stabilizer
KR101358597B1 (ko) 2007-12-26 2014-02-04 주식회사 두산 마스트의 틸팅 각도 조절구조를 갖는 지게차 장치
KR20100048215A (ko) 2008-10-30 2010-05-11 화남전자 주식회사 지게차의 마스트 기울기 제어 시스템, 회로 및 방법
US20100204891A1 (en) * 2009-02-12 2010-08-12 Cnh America Llc Acceleration control for vehicles having a loader arm
US9045321B2 (en) * 2010-01-15 2015-06-02 Recon Engineering, Inc. Load transport system and method
KR101711215B1 (ko) 2010-12-21 2017-02-28 주식회사 두산 부하 충격 방지 기능을 구비한 지게차
KR101821419B1 (ko) 2012-01-26 2018-01-23 주식회사 두산 지게차의 화물 낙하 방지 장치 및 방법
KR20150064453A (ko) * 2013-12-03 2015-06-11 주식회사 두산 지게차 및 지게차의 제어방법
US9593469B2 (en) * 2013-12-20 2017-03-14 Cnh Industrial America Llc System and method for controlling a work vehicle based on a monitored tip condition of the vehicle
KR102075808B1 (ko) * 2013-12-30 2020-03-02 주식회사 두산 지게차의 제어장치 및 제어방법

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11352243B2 (en) 2018-09-13 2022-06-07 Crown Equipment Corporation System and method for controlling a maximum vehicle speed for an industrial vehicle based on a calculated load

Also Published As

Publication number Publication date
WO2015083935A1 (ko) 2015-06-11
EP3078623A4 (de) 2017-08-02
US9981835B2 (en) 2018-05-29
EP3078623A1 (de) 2016-10-12
KR20150064453A (ko) 2015-06-11
US20160376135A1 (en) 2016-12-29
CN105793188B (zh) 2018-03-02
CN105793188A (zh) 2016-07-20

Similar Documents

Publication Publication Date Title
EP3078623B1 (de) Gabelstapler und gabelstaplersteuerungsverfahren
KR102075808B1 (ko) 지게차의 제어장치 및 제어방법
CN105300352B (zh) 估算挂车道路坡度
US10202116B2 (en) Mining machine control system, mining machine, mining machine management system, and mining machine management method
EP2231454B1 (de) System und verfahren zum steuern einer radbremse
EP2800670B1 (de) Verfahren und system zur steuerung einer fahrstrecke
US20160264134A1 (en) Transporter vehicle and transporter vehicle control method
EP2623387A1 (de) Fahrhilfevorrichtung und fahrhilfeverfahren
US20150019117A1 (en) Method for regulating the distance of a vehicle from a preceding vehicle
JP4600174B2 (ja) 走行支援装置及び走行支援方法
JP2009051310A (ja) 車両走行制御装置
CN112298136B (zh) 自动驾驶车辆的行车控制方法、装置、设备及可读介质
EP3315369A1 (de) Vorrichtung und verfahren zur steuerung der zugkraft eines fahrzeugs
US11787409B2 (en) Driving assist device, driving assist method, and driving assist system
EP3600999A1 (de) Abstandsregelung für ein fahrzeug mit anhänger
EP3556721B1 (de) Gabelstapler und steuerungsverfahren für gabelstapler
US11345345B2 (en) Method for operating a motor vehicle, and corresponding motor vehicle
JP4690626B2 (ja) ２つの車両間のドッキング過程を制御する方法および装置
KR20220018137A (ko) 군집 주행 제어 장치, 그를 포함한 시스템 및 그 방법
WO2015197084A1 (en) An arrangement and method for supporting a cruise control brake in a vehicle
JP6128433B2 (ja) 自動変速機制御装置
JP2014000900A (ja) 車両制御装置
KR101517920B1 (ko) 차량 주행속도 제어 장치
US20250074410A1 (en) Lane departure prevention system and control method thereof
JP2023041866A (ja) 車両の自動制動装置

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20160608

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

DAX Request for extension of the european patent (deleted)
A4 Supplementary search report drawn up and despatched

Effective date: 20170630

RIC1 Information provided on ipc code assigned before grant

Ipc: B66F 17/00 20060101ALI20170626BHEP

Ipc: B66F 9/075 20060101ALI20170626BHEP

Ipc: B66F 9/20 20060101AFI20170626BHEP

Ipc: B66F 9/14 20060101ALI20170626BHEP

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20180418

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1075724

Country of ref document: AT

Kind code of ref document: T

Effective date: 20181215

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602014038006

Country of ref document: DE

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: SE

Ref legal event code: TRGR

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20181212

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190312

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190312

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK05

Ref document number: 1075724

Country of ref document: AT

Kind code of ref document: T

Effective date: 20181212

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190313

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190412

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190412

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602014038006

Country of ref document: DE

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

26N No opposition filed

Effective date: 20190913

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20191016

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20191031

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20191031

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20191031

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20191031

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20191016

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20200914

Year of fee payment: 7

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20200911

Year of fee payment: 7

Ref country code: GB

Payment date: 20201007

Year of fee payment: 7

Ref country code: DE

Payment date: 20201006

Year of fee payment: 7

Ref country code: SE

Payment date: 20201012

Year of fee payment: 7

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20141016

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 602014038006

Country of ref document: DE

REG Reference to a national code

Ref country code: SE

Ref legal event code: EUG

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20211016

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181212

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20211017

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20211016

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20220503

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20211031

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20211016